Event
Torch-Hand: A 21-Degree-of-Freedom Fully Linked Humanoid Dexterous Hand
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The research team proposes Torch-Hand, a fully articulated humanoid dexterous hand, employing an all-linkage transmission architecture with a total of 21 degrees of freedom: 5 in the thumb and 4 in each of the other four fingers. Unlike tendon-driven or hybrid-driven approaches, this hand integrates all actuators within the palm and arranges them in a manner akin to a serial robot, so that motor motion corresponds directly to joint kinematics. The team states that this design balances grasp force and load capacity. The experiments evaluated the reachable workspace, fingertip coordinated trajectories, thumb opposition, coverage of 33 grasp classifications, grasp force, load, and task-level manipulation.
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- Torch-Hand: A 21-DOF Linkage-Driven Humanoid Dexterous Hand
The research team proposed Torch-Hand, a humanoid dexterous hand featuring an all-linkage transmission architecture with 21 degrees of freedom, including 5 DOF in the thumb and 4 DOF in each of the other four fingers. The hand integrates its actuators into the palm in a serial-robot-like arrangement, so that motor motion corresponds directly to joint kinematics while balancing grasp force and payload capacity. Experiments evaluated the reachable workspace, fingertip coordinated trajectories, thumb opposition, coverage of 33 grasp categories, grasp force, payload, and task-level manipulation.
arXiv cs.RO ·